private int gyro_y() { return data16(16); }
private int gyro_z() { return data16(18); }
private int mag_x() { return data16(20); }
- private int mag_y() { return data16(22); }
- private int mag_z() { return data16(24); }
+ private int mag_z() { return data16(22); }
+ private int mag_y() { return data16(24); }
private int accel() { return data16(26); }
/* AO_LOG_TEMP_VOLT elements */
AltosGPS gps;
- /* Flush any pending GPS changes */
- if (cal_data.gps_pending()) {
- switch (cmd()) {
- case AltosLib.AO_LOG_GPS_LAT:
- case AltosLib.AO_LOG_GPS_LON:
- case AltosLib.AO_LOG_GPS_ALT:
- case AltosLib.AO_LOG_GPS_SAT:
- case AltosLib.AO_LOG_GPS_DATE:
- break;
- default:
- listener.set_gps(cal_data.temp_gps());
- cal_data.reset_temp_gps();
- break;
- }
- }
-
switch (cmd()) {
case AltosLib.AO_LOG_FLIGHT:
cal_data.set_flight(flight());
int gyro_pitch = gyro_x();
int gyro_yaw = gyro_z();
- int mag_along = mag_x();
- int mag_across = mag_y();
+ int mag_along = mag_y();
+ int mag_across = mag_x();
int mag_through = mag_z();
if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
cal_data.mag_through(mag_through));
+ final double lsb_per_g = 1920.0/105.5;
+
double acceleration = AltosConvert.acceleration_from_sensor(
accel(),
- config_data.accel_cal_plus,
- config_data.accel_cal_minus,
- AltosLib.MISSING);
+ cal_data.ground_accel,
+ cal_data.ground_accel + 2 * lsb_per_g,
+ cal_data.ground_accel);
listener.set_acceleration(acceleration);
break;